Abstract: Aiming at the control problem of cluster formation under switching topology, the formation control algorithm which can ensure cluster connectivity is designed by only acquiring virtual leader information of an individual unmanned aerial vehicle (UAV). When the network topology is changed due to formation transformation or part of communication network failure, the cluster is divided into alliances based on the principle of distance. Members of each alliance compete with other members on the basis of information concentration, and the UAV of the highest information concentration obtains the virtual leader information. Other alliance members obtain information about the virtual leader indirectly through communication with the UAV. The algorithm allowseach UAV to acquire the virtual leader information directly or indirectly at any time. Moreover, the feedback mechanism of the cluster to the virtual leader is introduced. Different from the traditional feedback algorithm, the number and composition members of the feedback UAV are changed, which improves the convergence speed and robustness of the system. On this basis, the damage problem of formation is further discussed. A distributed recursive self-repair algorithm based on layering is designed to solve the problem, which solves the problem of self-repair in the split state of the network and the excessive formation change after repair. The simulation results show the rationality of the model and the validity of the solution method.

Key words: cluster, alliance, feedback mechanism, self-repair